Eigen upstream was broken a little while ago, and it seemed to be
the case that we needed a fix for using the LLT factorization on
ARM.
This has been fixed and AFAIK there are no stable eigen releases
with this bug in it.
For full gore, see
http://eigen.tuxfamily.org/bz/show_bug.cgi?id=992
In light of the fix, the extra layer of indirection introduced earlier
is not needed and we are reverting to normal programming.
Change-Id: I16929d2145253b38339b573b27b6b8fabd523704
It seems that Eigen's LLT factorization is broken on ARM.
This patch enables the use of LDLT factorization instead of LLT
factorization. The switch is controlled at compile time using a
preprocessor define - CERES_USE_EIGEN_LDLT.
By default we continue to use LLT factorization though.
To make the switching easier without introducing the Cholesky factorization
based inversion and linear system solve routines have been abstracted into
two new functions.
Android.mk has been updated to enable the LDLT factorization, but
the cmake file has not been updated as I will leave it to Alex's
capable hands to do proper detection of ARM as a target platform.
Change-Id: Iffe3abd2ce894de2a388b454df3da909b482d5e5
Since Ceres is moving to using GitHub for issues, and the Google
Code URL in the current copyright header will soon become invalid,
update all the headers.
Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
For historical reasons we had a "using namespace std;" in port.h. This
is generally a bad idea. So removing it and along the way doing a bunch
of cpplint cleanup.
Change-Id: Ia125601a55ae62695e247fb0250df4c6f86c46c6
1. Extend the implementation of BlockRandomAccessDiagonalMatrix
by adding Invert and RightMultiply methods.
2. Simplify the implementation of the Schur Jacobi preconditioner
using these new methods.
3. Replace the custom storage used inside Block Jacobi preconditioner
with BlockRandomAccessDiagonalMatrix and simplify its implementation
too.
Change-Id: I9d4888b35f0f228c08244abbdda5298b3ce9c466
This class is used in the SchurJacobiPreconditioner for
storing the preconditioner matrix. Using it speeds up
the computation of the preconditioner by ~15% due to
the elimination of a hash table lookup.
Change-Id: Iba2b34aad0d9eb9bcb7f6e6fad16aa416aac0d2a
Sameer Agarwal